Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-13 10:03:57 -03:00
Code Issues Packages Projects Releases Wiki Activity

AP_Motors: fix comment of HeliQuad

Browse Source
This commit is contained in:
TsuyoshiKawamura 2024-03-08 18:21:49 +09:00 committed by Randy Mackay
parent fba1e68ef4
commit a2549c5d6b
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
View File

@ -126,7 +126,7 @@ void AP_MotorsHeli_Quad::calculate_scalars()
void AP_MotorsHeli_Quad::calculate_roll_pitch_collective_factors() void AP_MotorsHeli_Quad::calculate_roll_pitch_collective_factors()
{ {
// assume X quad layout, with motors at 45, 135, 225 and 315 degrees // assume X quad layout, with motors at 45, 135, 225 and 315 degrees
// order FrontRight, RearLeft, FrontLeft, RearLeft // order FrontRight, RearLeft, FrontLeft, RearRight
const float angles[AP_MOTORS_HELI_QUAD_NUM_MOTORS] = { 45, 225, 315, 135 }; const float angles[AP_MOTORS_HELI_QUAD_NUM_MOTORS] = { 45, 225, 315, 135 };
const bool x_clockwise[AP_MOTORS_HELI_QUAD_NUM_MOTORS] = { false, false, true, true }; const bool x_clockwise[AP_MOTORS_HELI_QUAD_NUM_MOTORS] = { false, false, true, true };
const float cos45 = cosf(radians(45)); const float cos45 = cosf(radians(45));